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(11) | EP 0 677 243 A2 |
| (12) | EUROPEAN PATENT APPLICATION |
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| (54) | A method of automatically milking animals and an implement for applying same |
| (57) In a method of automatically milking animals, such as cows, the milk obtained from
each udder quarter is discharged through separate milk lines to e.g. a collector element.
When the milk flow coming from one or more udder quarters has fallen to below a threshold
value, the underpressure in the teat cup(s) connected to this/these udder quarter(s)
is neutralized. When mastitis has been detected in an udder quarter and after the
milk flow originating therefrom, possibly combined with that from one or more other
udder quarters, has fallen to below said threshold value, this udder quarter or these
udder quarters is/are automatically stripped, either during a predetermined period
of time, or until the milk flow has fallen to below a second threshold value, which
is lower than said first threshold value. |
[0001] The present invention relates to a method of automatically milking animals, such as cows, in which the animals are milked by one or more milking robots, and in which milk obtained from an udder quarter is discharged to a collector element, such as a milk claw or a milk jar.
[0002] Such constructions are known. They might have the disadvantage that they not always prevent illnesses such as mastitis satisfactorily. It is the object of the present invention to prevent illnesses as much as possible. To that end, if in an early stage an illness has been detected in an udder quarter and the milk flow has fallen to below a defined threshold value (D1), this udder quarter is automatically stripped. If so desired, this threshold value (D1) may be different for various animals.
[0003] When the milk flow has fallen to below a predetermined threshold value, it is ensured that the milking operation is ceased; the udder quarter is assumed to have been stripped more or less. More specifically, to prevent mastitis, it is important for the milking operation to be stopped when the milk flow has become too small. If then the milking operation would be continued, the teats might get irritated to such an extent that the risk of mastitis might increase. However, once mastitis has been detected in an udder quarter, it may be of importance to nevertheless continue milking. Therefore, it should be recommended to adapt the method of automatically milking animals, as described in the foregoing, to this situation. Therefore, once mastitis has been detected in an udder quarter and after the milk flow originating therefrom, possibly combined with that from one or more other udder quarters, has fallen to below said threshold value (D1), this udder quarter or these udder quarters is/are automatically stripped.
[0004] In a first possible method, when mastitis has been detected in an udder quarter and after the milk flow coming therefrom has fallen to below said threshold value (D1), this udder quarter is stripped further during a defined time interval. In a second possible method, when mastitis has been detected in an udder quarter and after the milk flow originating therefrom has fallen to below said threshold value (D1), this udder quarter is stripped further until an additional, predetermined quantity of milk has been taken from this udder quarter. In yet another feasible method, when mastitis has been detected in an udder quarter and after the milk flow originating therefrom has fallen to below said threshold value (D1), this udder quarter is stripped further until the milk flow from this udder quarter has fallen to below a second threshold value (D2), which second threshold value (D2) is lower than the first-mentioned threshold value (D1). In the said last method, the second threshold value (D2) may depend on the extent to which mastitis has been detected. In both aforementioned cases, a second criterion is handled for the continuation of the milking operation until all or substantially all the milk has been taken from an udder quarter affected by mastitis. Stripping of this udder quarter is not discontinued until after this second criterion has been satisfied. To that end, it is sufficient to neutralize the underpressure in the relevant teat cup, it not being absolutely necessary for the teat cup to be disconnected or removed at the same time. The question as to which method is to be used, will be determined to a significant extent by the fact whether the teat cups are individually disconnectable or can only be disconnected and removed collectively. In addition, it should be noted that handling a first threshold value and a second criterion, such as the said predetermined time interval or the said second threshold value, can be effected for each udder quarter separately as well as in pairs for e.g. the two front udder quarters and the two rear udder quarters. The two front, and also the two rear udder quarters are comparable to each other to a significant extent as regards their milk yield. It is possible that mastitis is detected in the joint milk flow from the two front and/or the two rear udder quarters. This situation will result in that, after the milk flow originating from the two front or rear udder quarters has fallen to below a first threshold value, the two udder quarters are stripped further, although mastitis may have occurred in only one of the two udder quarters.
[0005] According to the invention, a mastitis sensor may be incorporated in each of the milk lines, with the aid of which a signal M is derived in a computer, indicating that mastitis has occurred in a given udder quarter, whilst furthermore, with the aid of this signal M, a threshold value for the milk flow in the milk line connected to the udder quarter affected by mastitis is derived in the computer in accordance with the Boolean expression
. More in particular, a milk flow sensor will be incorporated in each of the milk lines, each milk flow sensor supplying to the computer a signal S, indicating the size of the milk flow, whilst furthermore the relevant milk line under a teat cup is closed as soon as the computer has determined that the milk flow S has fallen to below the threshold value D. The three aforementioned methods may, of course, also be combined. This combined method is then characterized in that, after mastitis has been detected in an udder quarter and after the milk flow originating therefrom has fallen to below the said threshold value (D1), this udder quarter, depending on the progression of the milk yield versus time, is either stripped further during a predetermined time interval, or is stripped further until the milk flow from this udder quarter has fallen to below a second threshold value (D2), which second threshold value (D2) is lower than the first-mentioned threshold value (D1), or is stripped further until an additional, predetermined quantity of milk has been taken from this udder quarter.
[0006] A mastitis detection which has proved to be reliable in actual practice, is obtained when milk conductivity sensors are used as mastitis sensors, whilst the milk conductivity determined in a milk line is compared to the milk conductivity, updated in a computer on the basis of a progressive weighted or non-weighted average of previous milking turns, of a relevant animal, whilst on the basis of this comparison it is ascertained whether the relevant udder quarter, after the milk flow originating therefrom has fallen to below said first threshold value (D1), is either stripped further or not. The decision as to whether mastitis is assumed to be present or not, is consequently animal-dependent; the milk conductivity measured last is compared to the historical data which were previously recorded in the form of a progressive, weighted or non-weighted average. On the basis of the said comparison, the computer can produce an attention signal, which can be displayed on a display screen and/or be printed, this attention signal indicating to what extent the last-measured milk conductivity exceeds that ascertained in the computer. On the basis of this attention signal, by means of a command manually entered into the computer or by means of a command already previously recorded in the computer, a relevant udder quarter can be stripped further or be stripped further at least during the subsequent milking turn as soon as it has been found that the milk flow in the relevant milk line has fallen to below the first-mentioned threshold value (D1). In practice, this will mean that on the basis of the attention signal the farmer can take the decision to further strip the relevant udder quarter in e.g. the subsequent milking turn, although it remains possible that such a command has already been stored in the computer, so that at the instant proper the relevant udder quarter can be stripped still further.
[0007] Instead of milk conductivity sensors, it is alternatively possible to incorporate filters in the milk lines, the mastitis detection then being based on resistance measurements. The filter has a higher resistance to the milk flow passing therethrough when this flow has been infected by mastitis and consequently is somewhat cloudy.
[0008] Instead of stripping a mastitis-affected udder quarter further than is usually customary, a mastitis in its initial stage can also be counteracted by milking the animals more frequently. Hence, the invention also relates to a method of automatically milking animals, such as cows, in which the milk obtained per udder quarter is discharged through separate milk lines to e.g. a collector element, such as a milk claw or a milk jar, and in which, when the milk flow originating from one or more udder quarters has fallen to below a threshold value (D1), the underpressure in the teat cup(s) connected to this/these udder quarter(s) is neutralized, which method is then characterized in that, when mastitis has been detected in an udder quarter and after the milk flow originating therefrom, possibly combined with that from one or more other udder quarters, has fallen to below said threshold value (D1), the relevant animal is admitted a larger number of times per 24 hours than other animals into the area arranged for automatic milking.
[0009] When mastitis has been diagnosed for an animal, it may be important to prevent the animal, after having been milked, from mingling with the other animals. Therefore, according to the invention, it is possible that, after mastitis has been diagnosed in an udder quarter, the relevant animal is transferred to an isolation area contiguous to the area arranged for automatic milking. This isolation area may also be used as an area in which the animals can be isolated for other reasons. The isolation area may be used to separate animals to be inseminated or animals whose hoofs must be clipped.
[0010] The isolation area can also serve for collecting animals which report to the milking robot to be milked again too short a period of time after the previous milking turn. When these animals have to wait for some length of time, it would not be wise to send them back to the pasture: it might then be too long before they would report again to the milking robot, so that the time elapsed between successive milking turns would be too long. The invention, therefore, further relates to an implement for automatically milking animals, including an area comprising a milking robot and arranged for automatic milking, characterized in that, contiguous thereto, there is provided an isolation area in which animals, which report to the milking robot at such an instant that it must be assumed that the quantity of milk to be supplied by them will still remain beneath a given value, are detained until they can indeed be milked. The isolation area can then be in connection with a pasture, so that animals can be admitted from the pasture into the isolation area, optionally via the area arranged for automatic milking, and animals which need not be detained for specific reasons can go from the isolation area to the pasture.
[0011] Among the animals to be milked there may be "animals which are difficult to be milked automatically"; they may be animals having only three teats or animals with very unequal teat heights. With such animals, it may happen that the milking robot does not succeed, or even cannot succeed - also after repeated efforts - in connecting the teat cups to the teats of the animals. A signal indicating this is usually given, so that the farmer can then act himself. Since, however, the milking robot may be in operation for the full 24 hours, the farmer might be alarmed at any moment during these 24 hours. According to the invention, this inconvenience to the farmer can be avoided when the animals which are difficult to be milked automatically are detained in the isolation area for predetermined periods of time during which access to the milking area is to be denied to them, e.g. during the night. More in particular, the invention, therefore, also relates to an implement for automatically milking animals, including an area comprising a milking robot and arranged for automatic milking, characterized in that animals which are difficult to be milked automatically, e.g. those having only three teats, those having very unequal teat heights, etc., are denied access to the area arranged for automatic milking, e.g. during the night, or are removed from this area without being milked in case they had obtained access thereto in some way or other. More in particular, alarm means may be present, with the aid of which it can be indicated that milking of the animal present in the area arranged therefor was found to be impossible, e.g. because the milking robot does not succeed in connecting the teat cups to the teats of the animal, which alarm means can be put out of operation at least for animals which are difficult to be milked automatically during the periods of time in which access to the area is denied to them.
[0012] According to the invention, the number of animals transferred from the milking area to the isolation area will be updated in the computer. The number of animals present in the isolation area can be updated both in the computer and in counting means provided for the purpose at or near the entrance and/or exit of the isolation area. When the animals enter the isolation area from the milking area, this can be recorded directly into the computer; when, however, the animals are guided by the farmer via a further door from the isolation area or predetermined animals are led thereinto, then the farmer can further update the number of animals present in the isolation area with the aid of the counting means. When the number of animals present in the isolation area exceeds a predetermined value, then the farmer can be warned.
[0013] Mastitis can not only be treated by further stripping of an udder quarter affected by mastitis and/or by more frequent milking of an animal, but also by rubbing an anti-mastitis ointment on at least the teat of the relevant udder quarter. The invention, therefore, also relates to a method of automatically milking animals, such as cows, characterized in that, when mastitis has been detected in an udder quarter, an anti-mastitis ointment is automatically rubbed, after milking, on at least the teat of the relevant udder quarter.
[0014] The invention does not only relate to a method, but also to an implement for automatically milking animals, in which the afore-described method can be applied. The implement then includes teat cups and a collector element, such as a milk claw or a milk jar, to which the milk obtained from each udder quarter is supplied through separate lines, whilst a mastitis sensor and a milk flow sensor are incorporated in one or more of these lines and, in addition, means are present for neutralizing the underpressure in the teat cups and/or means for disconnecting the teat cups. The implement is then characterized in that there is present a computer, which, in response to signals coming from the milk flow sensor and the mastitis sensor, applies a control signal to the said means for neutralizing, when the milk flow in a relevant milk line has fallen to below a mastitis-depending threshold value or when a predetermined time interval has elapsed after this milk flow has fallen to below a fixed or udder quarter-dependent threshold value, the underpressure in a relevant teat cup and/or for disconnecting same. More specifically, when the milk flow sensors used are of the type in which the through-flow of a given quantity of milk is indicated by means of electrodes, it is, in accordance with the invention, important for the milk flow sensors to be provided in the milk lines near the connection of the milk lines to the collector element. The milk lines themselves then act as a kind of buffer, via which the milk obtained from the udder quarters is supplied in a pulsed mode. When at consecutive pulsed strokes less milk is fed through the line to a milk flow sensor, it takes a longer period of time before the volume between the two electrodes is filled with milk and the period of time between the signals supplied by the electrodes will increase. This period of time, which becomes longer towards the end of the milking operation, is a measure of the milk flow. The predetermined threshold values then are in a direct relationship with the length of the time interval between consecutive signals produced by the electrodes.
[0015] Furthermore, according to the invention, a shut-off element for the milk lines connected to the teat cups may be provided under each of the teat cups, each of the shut-off elements closing a milk line after said control signal has been supplied. Furthermore, according to the invention, there may be present a pulsator for producing in each of the teat cups a pulsating underpressure, which in the relevant teat cup is neutralized after the said control signal has been applied, whilst ambient pressure is admitted thereinto.
[0016] The afore-mentioned method can more in particular be applied in an advantageous manner in an above-described implement, which is not only arranged for automatic milking, but which is also provided with a milking robot for automatically connecting the teat cups to the teats of an animal to be milked and automatically disconnecting same, as soon as the milk flow in a given milk line has fallen to below a mastitis-depending threshold value, preset in the computer, or as soon as a predetermined time interval has elapsed after the milk flow has fallen to below a fixed or udder quarter-depending threshold value. In this situation, the milking robot may comprise means for, when mastitis has been detected in an udder quarter after milking, smearing automatically an anti-mastitis ointment on at least the teat of the relevant udder quarter.
[0017] According to the invention, the above-described implement may further include both an area arranged for automatic milking and an isolation area contiguous thereto, to which latter area the animals can be transferred for special reasons, e.g. because mastitis has been detected, because the animals are to be inseminated, because the hoofs of the animals must be clipped, etc. In or near this isolation area there may be arranged counting means, by means of which the number of animals present in the isolation area can be updated manually, more in particular when the animals are led into or from the isolation area via a separate passage. These counting means may be in connection with the computer for a computerized updating of the number of animals present in the isolation area as indicated by the counting means, when the animals enter the isolation area from the milking area.
[0018] For a better understanding of the invention and to show how the same may be carried into effect, reference will now be made, by way of example, to the accompanying drawings, in which:
Figure 1 illustrates a shed organization, in which the implement for automatically milking animals in accordance with the invention is accommodated;
Figure 2 illustrates schematically a portion of the implement for automatically milking animals, and
Figures 3A to 3E illustrate schematically the position of the various doors to and from the milking area and the isolation area in a specific embodiment.
[0019] Figure 1 shows a loose housing 1, in which a feeding area 2 is present in the longitudinal direction thereof. At both sides of the feeding area 2, cubicles 3 are located along substantially the overall length of the loose housing 1 along the sides of the outer wall and, at that side where the feeding area 2 is located there are feeding stations 4. Via doors 5 and 6 in the shed 1, fodder in the form of hay can be transferred by means of a tractor driving in the feeding passage 2 to feed channels and/or concentrate to feeding troughs on the feeding stations 4. The cubicles 3 and the feeding stations 4 are arranged such that there is left sufficient room for the animals to walk between the cubicles and the feeding stations, so that they can move to a sufficient extent and basically can walk around the shed. Near the short side of the shed there is an area 7, in which a machine for automatically milking animals is positioned, which milking machine includes a milking robot 8 for automatically connecting the teat cups to the teats of an animal to be milked and disconnecting same therefrom. Between the milking area 7 and the short side of the shed 1 there is a computer area 9, in which a computer 10 is located together with all the equipment that is part of the milking machine but is not disposed in the milking area 7 proper. The milking box 7 has an entrance door 11 and two exit doors 12 and 13. The animals can enter the milking area from the exercise area via the door 11, whilst the animals can enter the exercise area again from the milking area via the door 12. As soon as an animal has entered the milking area from the exercise area or, via the exercise area, from the pasture, the animal's identity will be established in the customary manner. By means of the cow recognition system used therefor, access is obtained to a data file present in the computer of the system for this animal. In this file has been recorded inter alia how much time has elapsed since her previous milking turn. From the subsequently established time differences between the moment when an animal enters the milking box, or at least reports at the milking box (in case the animal is identified prior to entering same), and the previous milking turn, there can be determined an average value of these time differences. Preferably, this is done on the basis of a progressive average, e.g. each time over the last seven days. Furthermore the spreading in this average is determined. The said average value and the spreading therein are recorded in the memory file for the relevant animal and serve as a basis for a possible warning or placing on an attention list, when an animal does not report in time at the milking box. When since the previous milking turn there has elapsed a period of time corresponding to the said average value plus a certain additional time determined by the said spreading without the animal having reported, then the animal must be collected in order to be milked.
[0020] Next to the milking area 7 there is an isolation area 14, which can be reached from the milking area via the door 13. In addition, the isolation area 14 is accessible via doors 15 and 16. In the area 14, animals can be separated from the animals present in the exercise area of the shed 1. This may be necessary because the animals have such an udder shape that the teat cups cannot be connected automatically, because they are to be inseminated or because their hoofs are to be clipped, in which event the farmer can lead the animals e.g. via the door 15 into the isolation area 14, but also because mastitis has been detected in the animals present in the milking area 7, which animals are then led from there via the door 13 into the isolation area 14 instead of into the exercise area of the shed 1. The farmer can fetch animals from the isolation area 14 via the door 16. Using the computer 10, which is further used for controlling the automatic milking procedure and the automatic connecting of the teat cups to the teats and disconnecting same therefrom, and also for performing all possible actions that are also of importance to the milking operation, the number of animals which are led from the milking area 7 to the isolation area 14 can be updated. When, however, the farmer himself leads animals into the isolation area via the door 15, or removes animals therefrom e.g. via the door 16, then the number of animals in the isolation area, as recorded in the computer 10, will not correspond to the actual number. To prevent this error, there are present counting means 17 which are connected to the computer 10. These counting means are preferably disposed near the doors 15 and 16 and can be operated manually by the farmer. When the farmer leads an animal via one of the doors 15, 16 into the isolation area, then, by operating the counting means 17, he can bring the number of animals indicated thereby in correspondence with the actual number. Likewise, when he fetches an animal from the isolation area 14 via one of the doors 15, 16, the farmer can adjust, by operating the counting means, the number of animals present in the isolation area, so that, since the counting means 17 are connected to the computer 10, the correct number of animals present in the isolation area is updated at all times in the computer 10 and, if so desired, can be displayed on a display screen provided on the counting means. When in the absence of the farmer too many animals are passed from the milking area 7 to the isolation area 14, an alarm can be triggered to warn the farmer that the number of animals in the isolation area is too high.
[0021] As has already been stated before, there may be present an isolation area for animals which have such an udder shape that the teat cups cannot be connected automatically. After these animals have been identified, they can be passed on to the isolation area, without the milking robot trying to connect the teat cups. Also animals, whose connection of the teat cups has failed even after repeated efforts, can be quided via the milking box to the isolation area, certainly during the so-called curfew times, e.g. during the night. The animals guided to the isolation area for the above reasons should be milked yet at a later instant. Then they are guided from the isolation area to the milking box again, where the teat cups usually will have to be connected manually. This manner of acting is represented in Figures 3A to 3E. In these drawings, the milking area is indicated again by reference numeral 7 and the isolation area by reference numeral 14. The entering and leaving of these areas is effected by means of, preferably computer-controlled, doors 28, 29, 30 and 31. In the position of the doors as shown in Figure 3A, an animal can enter the milking box 7 from the exercise area in the shed; the doors 28 and 29 are subsequently closed (see Figure 3B). When thereafter the connection of the teat cups fails or this is not even tried due to the deviating udder shape, then the door 30 is opened and the animal is guided to the isolation area 14 (see Figure 3C). Then the door 30 is closed. When in this manner a certain number of non-automatically to be milked animals have been collected in the isolation area, then these will be admitted from the isolation area 14 to the milking box in the presence of the farmer and at a moment to be decided by him. After the door 30 has opened (see Figure 3D), an animal can enter the milking box from the isolation area, after which the door 30 is closed again, the animal is subsequently milked and dismissed from the milking box by opening of the doors 30 and 31 (see Figure 3E) and guided to the exercise area of the shed. Then the doors 30 and 31 close, while the door 29 is opened again in order to admit the next animal from the isolation area to the milking box.
[0022] The implement for automatically milking animals, such as it is partially and schematically shown in Figure 2, includes teat cups 18 which are automatically connected to the teats of an animal to be milked with the aid of the milking robot 8. Each of the milk lines 19 connected to the teat cups 18 ends individually into a milk jar 20, from which, each time when a predetermined quantity of milk is contained therein, this milk is pumped by means of a pump 22 via a shut-off device 21 into a line 23 leading to a (non-shown) milk tank. Under the teat cups 18, each of the milk lines 19 includes a shut-off device 24, while furthermore a mastitis sensor 25 and a milk flow sensor 26 are incorporated in each of the milk lines 19. The milk flow sensors 26 are accommodated in the milk lines 19 near the region where these milk lines end in the milk jar 20. Figure 2 once again shows the computer 10. Signals S from the individual milk flow sensors 25 are applied to this computer 10, each of these signals S being indicative of the milk flow in a relevant milk line 19. In addition, signals M supplied by each of the mastitis sensors are applied to the computer 10. In the present embodiment, the mastitis sensors are constituted by milk conductivity sensors. The signals supplied by these sensors, which signals are a measure of the conductivity of the milk, are compared in the computer 10 to the progressive, weighted or non-weighted average of the milk conductivity recorded during previous milking turns, whereafter, when the last-measured milk conductivity exceeds the progressive, weighted or non-weighted average to an excessive extent, an attention signal is displayed on the display screen of the computer 10, on the basis of which signal the farmer can decide whether it is a matter of mastitis and whether measures to counteract it must be taken or not. These data, and also possibly other data relevant to the milking of the animal or to her health, can not only be displayed on the display screen of the computer, but also be shown on attention lists to be printed out or even on a display screen to be arranged e.g. in the shed or elsewhere in the farm, so that the farmer can see the relevant data from a distance and at a single glance, without him having to strain his eyes on a computer display screen. By keying-in an affirmation in the computer 10 there is produced a signal M, which indicates that it is indeed a matter of mastitis. This signal can, of course, also be produced automatically when the last-measured milk conductivity has exceeded the progressive, weighted or non-weighted average recorded in the computer to a given extent. In the computer 10, threshold values D1 and D2 may have been recorded in a programme for the milk flow in the lines 19, or these threshold values may be entered via a keyboard. In the computer 10, a threshold value D is derived from the signal M and the threshold values D1 and D2, for which it holds that, as soon as the signal S from a milk flow sensor 26 has fallen to below the threshold value D, the computer 10 produces a control signal. This control signal can be applied to a shut-off device 24 for closing the relevant milk line and for thereafter neutralizing the underpressure in the relevant teat cup and for optionally disconnecting the teat cup immediately thereafter. For the benefit of the milking operation there is present a pulsator 27, which is controlled by the computer 10 and which produces a pulsating underpressure in each of the teat cups. After the said control signal has been applied, the pulsating pressure in the relevant teat cup is to be neutralized, which is effected by admitting ambient pressure thereinto. The threshold value D, such as it is established in the computer 10, satisfies the Boolean expression
. In other words, in the computer 10 there is determined a mastitis-dependent threshold value for the milk flow in a milk line 19, whilst, as soon as the milk flow has fallen to such a level that it has arrived below the predetermined threshold value D, milking of the relevant udder quarter is to be stopped. Since the second threshold value, i.e. the threshold value which holds for the case when mastitis has been found in an udder quarter, is lower than the first threshold value, a relevant udder quarter is milked for a longer period of time than would be the case when no mastitis was detected in an udder quarter.
1. A method of automatically milking animals, such as cows, in which the animals are
milked by one or more milking robots, and in which milk obtained from an udder quarter
is discharged to a collector element, such as a milk claw or a milk jar, characterized
in that if an illness has been detected in an udder quarter and the milk flow has
fallen to below a defined threshold value (D1), this udder quarter is automatically
stripped.
2. A method as claimed in claim 1, characterized in that said threshold value (D1) might
be different for various animals.
3. A method as claimed in claim 1 or 2, characterized in that, when mastitis has been
detected in an udder quarter and after the milk flow coming therefrom has fallen to
below said threshold value (D1), this udder quarter is stripped during a defined time
interval.
4. A method as claimed in claim 1 or 2, characterized in that, when mastitis has been
detected in an udder quarter and after the milk flow coming therefrom has fallen to
below said threshold value (D1), this udder quarter is stripped further until an additional,
predetermined quantity of milk has been taken from that udder quarter.
5. A method as claimed in claim 1 or 2, characterized in that, when mastitis has been
detected in an udder quarter and after the milk flow coming therefrom has fallen to
below said threshold value (D1), this udder quarter is stripped further until the
milk flow from this udder quarter has fallen to below a second threshold value (D2),
which second threshold value (D2) is lower than said first threshold value (D1).
6. A method as claimed in claim 5, characterized in that the second threshold value (D2)
depends on the extent to which mastitis has been detected.
7. A method as claimed in claim 5 or 6, characterized in that each of the milk lines
includes a mastitis sensor, with the aid of which a signal M is derived in a computer,
indicating that mastitis has occurred in a given udder quarter, whilst furthermore,
with the aid of this signal M, a threshold value D for the milk flow in the milk line
connected to the udder quarter affected by mastitis is derived in the computer, in
accordance with the Boolean expression
.
.
8. A method as claimed in claim 7, characterized in that a milk flow sensor is incorporated
in each of the milk lines, each of these milk flow sensors supplying to the computer
a signal S indicating the size of the milk flow, whilst furthermore the relevant milk
line under a teat cup is closed as soon as the computer has determined that the milk
flow S has fallen to below the threshold value D.
9. A method as claimed in any one of the preceding claims, characterized in that, when
mastitis has been detected in an udder quarter and after the milk flow coming therefrom
has fallen to below said threshold value (D1), this udder quarter, depending on the
progression of the milk yield versus time, is either stripped further during a predetermined
time interval, or is stripped further until the milk flow from this udder quarter
has fallen to below a second threshold value (D2), which second threshold value (D2)
is lower than said first threshold value (D1), or is stripped further until an additional,
predetermined quantity of milk has been taken from this udder quarter.
10. A method as claimed in any one of the preceding claims, characterized in that milk
conductivity sensors are used as mastitis sensors, whilst the milk conductivity determined
in a milk line is compared to the milk conductivity, updated in a computer on the
basis of a progressive weighted or non-weighted average of previous milking turns
of a relevant animal, whilst on the basis of this comparison it is ascertained whether
the relevant udder quarter, after the milk flow coming therefrom has fallen to below
said first threshold value (D1), is either stripped further or not.
11. A method as claimed in claim 10, characterized in that, on the basis of the said comparison,
the computer generates an attention signal, which can be displayed on a display screen
and/or be printed, this attention signal indicating to what extent the last-measured
milk conductivity exceeds that ascertained in the computer.
12. A method as claimed in claim 10 or 11, characterized in that, by means of a command
inputted manually into the computer or by means of a command already previously recorded
in the computer, a relevant udder quarter is stripped further or is stripped further
at least during the subsequent milking turn as soon as it has been found that the
milk flow in the relevant milk line has fallen to below said first threshold value
(D1).
13. A method as claimed in claim 10, 11 or 12, characterized in that, by means of a command
manually inputted into the computer or by means of a command already previously recorded
in the computer, the relevant animal is admitted a larger number of times per 24 hours
to the area arranged for automatic milking than other animals.
14. A method of automatically milking animals, such as cows, in which the milk obtained
from each udder quarter is discharged through separate milk lines to e.g. a collector
element, such as a milk claw or a milk jar, and in which, when the milk flow originating
from one or more udder quarters has fallen to below a threshold value (D1), the underpressure
in the teat cup(s) connected to this/these udder quarter(s) is neutralized, characterized
in that, once mastitis has been detected in an udder quarter and after the milk flow
originating therefrom, possibly combined with that from one or more other udder quarters,
has fallen to below said threshold value (D1), the relevant animal is admitted a larger
number of times per 24 hours to the area arranged for automatic milking than other
animals.
15. A method as claimed in any one of the preceding claims, characterized in that, when
mastitis has been detected in an udder quarter, the relevant animal is transferred
to an isolation area contiguous to the area arranged for automatic milking.
16. A method of automatically milking animals, such as cows, characterized in that given
animals, e.g. those having such an udder shape that they cannot be milked automatically,
animals in which mastitis has been diagnosed, animals to be inseminated, animals whose
hoofs must be clipped, etc., are isolated in an isolation area contiguous to the area
arranged for automatic milking.
17. A method as claimed in claim 16, characterized in that the animals which have such
an udder shape that they cannot be milked automatically, after having passed the area
arranged for automatic milking, are collected in a contiguous isolation area, from
where they are subsequently admitted again at a later instant to the former area in
order to be milked, after the teat cups have been connected by hand.
18. A method as claimed in claim 17, characterized in that animals, of who it is known
that they cannot be milked automatically, are guided directly or via the area arranged
for automatic milking, without it being tried to connect the teat cups, to the isolation
area.
19. A method as claimed in any one of claims 15 to 18, characterized in that in the computer
the number of animals transferred from the milking area to the isolation area is updated.
20. A method as claimed in any one of claims 15 to 19, characterized in that the number
of animals present in the isolation area is updated in the computer or in counting
means provided for the purpose at or near a further entrance and/or exit of the isolation
area.
21. A method as claimed in any one of the preceding claims, characterized in that, when
mastitis is diagnosed in an udder quarter, an anti-mastitis ointment is automatically
rubbed, after milking, on at least the teat of the relevant udder quarter.
22. A method of automatically milking animals, characterized in that, when mastitis has
been detected in an udder quarter, an anti-mastitis ointment is automatically rubbed,
after milking, on at least the teat of the relevant udder quarter.
23. A method as claimed in any one of the preceding claims, characterized in that in the
computer there is recorded an average value of the time differences between the moment
at which an animal reports at or in the milking box and the moment of the previous
milking turn, while on the basis of this average value an alarm or attention signal
is delivered when an animal has not yet reported for a next milking turn and since
the last milking turn of the animal there has elapsed a period of time which corresponds
to the said average time difference, possibly increased by an additional time value
depending on the spreading in the said average time difference.
24. A method of automatically milking animals in a milking box, including a computer and
a cow recognition system, by means of which the animals can be identified and a data
file in the computer is accessible, in which file are stored the data relevant to
automatically milking the animal, characterized in that in the computer there is recorded
an average value of the time differences between the moment at which an animal reports
at or in the milking box and the moment of the previous milking turn, while on the
basis of this average value an alarm or attention signal is delivered when an animal
has not yet reported for a next milking turn and since the last milking turn of the
animal there has elapsed a period of time which corresponds to the said average time
difference, possibly increased by an additional time value depending on the spreading
in the said average time difference.
25. An implement for automatically milking animals, in which the method as claimed in
any one of the preceding claims can be applied, including teat cups (18) and a collector
(20) element, such as a milk claw or a milk jar, to which the milk obtained from each
udder quarter is supplied through separate milk lines (19) , in one or more of which
lines (19) a mastitis sensor (25) and a milk flow sensor (26) are incorporated, as
well as means for neutralizing the underpressure in the teat cups (18) and/or means
for disconnecting the teat cups, characterized in that there is present a computer
(10) which, in response to signals coming from the milk flow sensor (26) and the mastitis
sensor (25), applies a control signal to the said means for neutralizing the underpressure
in a relevant teat cup (18) and/or for disconnecting same, when the milk flow in a
relevant milk line has fallen to below a mastitis-dependent threshold value or when
a predetermined time interval has elapsed after the milk flow has fallen to below
a fixed or udder quarter-dependent threshold value.
26. An implement as claimed in claim 25, characterized in that the milk flow sensors (26)
are disposed in the milk lines (19) near the connection of the milk lines (19) to
the collector element (20).
27. An implement as claimed in claim 25 or 26, characterized in that under each of the
teat cups (18) there is a shut-off element (24) for milk lines (19) connected to the
teat cups (18), each of the shut-off elements (24) closing a milk line (19) in response
to said control signal.
28. An implement as claimed in any one of claims 25 to 27, characterized in that there
is present a pulsator (27) for producing a pulsating underpressure in each of the
teat cups (18), which pulsating underpressure in the relevant teat cup (18) is neutralized,
after the said control signal has been applied to it, which is effected by admitting
ambient pressure thereinto.
29. An implement as claimed in any one of claims 25 to 28, characterized in that there
is present a milking robot (8) for automatically connecting the teat cups (18) to
the teats of an animal to be milked and for automatically disconnecting the teat cups
as soon as the milk flow in a given milk line (19) has fallen to below a mastitis-dependent
threshold value preset in the computer (10), or as soon as a predetermined time interval
has elapsed after the milk flow has fallen to below a fixed or udder quarter-dependent
threshold value.
30. An implement as claimed in any one of claims 25 to 29, characterized in that it includes
an area (7) comprising a milking robot (8) and arranged for automatic milking, as
well as an isolation area (14) contiguous thereto, to which the animals are transferred
for specific reasons, e.g. because they have such an udder shape that they cannot
be milked automatically, because mastitis has been detected, because animals have
reported to the milking robot too short a period of time after the previous milking
turn, because the animals are to be inseminated, because the hoofs of the animals
must be clipped, etc.
31. An implement for automatically milking animals, including an area (7) comprising a
milking robot (8) and arranged for automatic milking, in which there is accommodated
a milking machine which includes mastitis sensors, characterized in that, contiguous
to this area (7) there is an isolation area (14), to which the animals are transferred
for specific reasons, e.g. because they have such an udder shape that they cannot
be milked automatically, because mastitis has been detected, because the animals are
to be inseminated, because the hoofs of the animals must be clipped, etc.
32. An implement for automatically milking animals, including an area (7) comprising a
milking robot (8) and arranged for automatic milking, characterized in that, contiguous
thereto, there is provided an isolation area (14) in which animals, which report to
the milking robot (8) at such an instant that it must be assumed that the quantity
of milk to be supplied by them will still remain beneath a given value, are detained
until they can indeed be milked.
33. An implement as claimed in any one of claims 30 to 32, characterized in that, the
isolation area (14) is in connection with a pasture, so that animals can be admitted
from the pasture into the isolation area (14) , optionally via the area (7) arranged
for automatic milking, and animals which need not be detained for specific reasons
can go from the isolation area (14) to the pasture.
34. An implement as claimed in any one of claims 30 to 33, characterized in that animals
which are difficult to be milked automatically, e.g. those having only three teats,
those having very unequal teat heights, etc., are detained in the isolation area (14)
for predetermined periods of time during which access to the milking area (7) is to
be denied to them, e.g. during the night.
35. An implement for automatically milking animals, including an area (7) comprising a
milking robot (8) and arranged for automatic milking, characterized in that animals
which are difficult to be milked automatically, e.g. those having only three teats,
those having very unequal teat heights, etc., are denied access to the area arranged
for automatic milking, e.g. during the night, or are removed therefrom without being
milked in case they had obtained access thereto in some way or other.
36. An implement as claimed in claim 34 or 35, characterized in that there are present
alarm means, with the aid of which it can be indicated that milking of an animal present
in the area (7) arranged therefor is found to be impossible, e.g. because the milking
robot (8) does not succeed in connecting the teat cups (18) to the teats of the animal,
which alarm means are put out of operation at least for animals which are difficult
to be milked automatically during the periods of time in which access to the area
(7) is denied to them.
37. An implement as claimed in any one of claims 32 to 34, characterized in that in or
near the isolation area (14) there are disposed counting means (17), by means of which
the number of animals present in the isolation area (14) can be updated manually,
more in particular when the animals are lead into or from the isolation area (14),
respectively, via a further entrance and/or exit (15, 16).
38. An implement as claimed in claim 37, characterized in that the counting means (17)
are in connection with the computer (10) for the computerized adjusting of the number
of animals displayed by the counting means (17), when the animals enter the isolation
area (14) from the milking area (7).
39. An implement as claimed in any one of claims 25 to 38, characterized in that there
is present a milking robot (8) for automatically connecting the teat cups (18) to
the teats of an animal to be milked and automatically disconnecting same, which milking
robot (8) includes means for, after milking, automatically rubbing, when mastitis
has been detected in an udder quarter, an anti-mastitis ointment on at least the teat
of the relevant udder quarter.
40. An implement for automatically milking animals, having a milking machine which includes
a milking robot (8) for automatically connecting teat cups (18) to the teats of an
animal to be milked and automatically disconnecting same, and one or more mastitis
sensors, characterized in that the milking robot (8) includes means for, after milking,
automatically rubbing, when mastitis has been detected in an udder quarter, an anti-mastitis
ointment on at least the teat of the relevant udder quarter.
41. An implement as claimed in any one of the preceding claims, characterized in that
in the shed area where the implement is arranged or elsewhere in the farm there is
present a display screen, on which the most relevant data as to automatically milking
the animal and as to her health condition can be visibly depicted from a distance.
42. An implement for automatically milking animals, including a computer (10) and a cow
recognition system, by means of which the animals can be identified and a data file
in the computer (10) is accessible, in which file are stored the data relevant to
automatically milking the animal and to her health condition, characterized in that
in the shed area where the implement is arranged or elsewhere in the farm there is
present a display screen, on which one or more of these data can be visibly depicted
from a distance.